#ifndef _ROBOT_INC_H
#define _ROBOT_INC_H

#include "base_drv/rc.h"
#include "base_drv/referee.h"
#include "base_drv/ext_imu.h"
#include "base_drv/super_cap.h"
#include "base_drv/motor_ctrl.h"
#include "base_drv/drv_can.h"

#include "algorithm/pid.h"
#include "algorithm/pid_ladrc.h"
#include "algorithm/pid_leso.h"

#include "chassis.h"
#include "gimbal.h"
#include "shoot.h"
#include "vision.h"
#include "bus_detect.h"
#include "barrel_switch.h"

void robot_tim_cycle(void);
void robot_tim_hs_cycle(void);
void robot_tim_imu_cycle(void);

void referee_send_tim_cycle(void);
void vision_send_tim_cycle(void);
void diag_slow_time_cycle(void);

void robot_main_loop(void);
void robot_init(void);

void Reset_ctrl(rc_ctrl_t* rc_recv);
void System_Reset(void);

extern imu_data_fp_t _real_imu;
extern eular_t _imu_eular;

#endif



